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Active heave compensation control system and control method thereof

A wave compensation and control system technology, applied to cranes and other directions, can solve problems that endanger the safety and accuracy of hoisting operations

Active Publication Date: 2013-09-25
SHANGHAI ZHENHUA HEAVY IND
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the interference of sea waves and other factors, the crane installed on the floating body is also disturbed, which further causes the corresponding interference movement of the relevant lifting load load, thus endangering the safety and accuracy of the entire hoisting operation.

Method used

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  • Active heave compensation control system and control method thereof
  • Active heave compensation control system and control method thereof
  • Active heave compensation control system and control method thereof

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Embodiment Construction

[0031] The present invention aims to propose an active heave wave compensation control system and control method. To realize the object of the present invention, the following technical solution is adopted: the heave motion of the load suspension fulcrum is detected in real time by a ship attitude motion detection sensor. It also provides a heave motion prediction algorithm, which can establish a model based on historical data, and then predict the future motion of the suspension fulcrum based on the model and the heave motion data measured at the current moment. Design a feed-forward compensation control algorithm based on this predicted motion data and actuator characteristics. Further, considering the factors such as wire rope elasticity and load damping caused by the operating water depth, an intelligent feedback control algorithm is designed. Combining the feedforward compensation control voltage and the intelligent feedback control voltage, they jointly drive the winch ...

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Abstract

The invention discloses an active heave compensation control system comprising a lifting reel, a ship attitude motion sensor, an absolute value encoder, a tension sensor and a compensation unit. The lifting reel is arranged on an offshore crane, a load is suspended by a wire rope which stretches from the lifting reel and goes across a suspension fulcrum at the front end of a support arm, and the load in immersed in water. Real-time detection of heave movement of the ship is performed by the ship attitude motion sensor. Real-time detection of movement of the lifting reel is performed by the absolute value encoder. Real-time detection of dynamic tension of the wire rope is performed by the tension sensor. The compensation unit is connected to the ship attitude motion sensor, the absolute value encoder and the tension sensor. Predictive parameters are calculated by the compensation unit based on historical data and real-time data of the heave moment of the ship, the movement of the lifting reel and the dynamic tension of the wire rope; and compensation voltage is provided for the lifting reel based on the predictive parameters. The invention also discloses an active heave compensation control method.

Description

technical field [0001] The invention relates to the technical field of control of offshore cranes, and more specifically relates to an active heave wave compensation control system for offshore cranes, which are used for sea surface hoisting and underwater installation. Background technique [0002] With the vigorous development of modern ocean engineering, more and more cranes are installed on marine floating bodies such as engineering ships and drilling platforms. Due to the interference of sea waves and other factors, the crane installed on the floating body is also disturbed, which further causes the corresponding interference movement of the relevant lifting load load, thus endangering the safety and accuracy of the entire hoisting operation. [0003] Wave compensation refers to the compensation and correction of operating equipment caused by fluctuations in the sea surface. Wave compensation technology is mainly used in offshore replenishment, ocean drilling, and deep...

Claims

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Application Information

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IPC IPC(8): B66C23/53
Inventor 蔡东伟刘荣华褚德英
Owner SHANGHAI ZHENHUA HEAVY IND
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